CN111193447B - Torque ripple suppression method of open-winding permanent magnet synchronous motor - Google Patents
Torque ripple suppression method of open-winding permanent magnet synchronous motor Download PDFInfo
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- CN111193447B CN111193447B CN202010181868.1A CN202010181868A CN111193447B CN 111193447 B CN111193447 B CN 111193447B CN 202010181868 A CN202010181868 A CN 202010181868A CN 111193447 B CN111193447 B CN 111193447B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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Abstract
The invention provides a torque ripple suppression method of an open winding permanent magnet synchronous motor, which analyzes the torque components of the open winding permanent magnet synchronous motorAnd a q-axis current reverse injection method is adopted, so that the zero-sequence torque pulsation can be effectively inhibited under various complex working conditions, and the working efficiency and the running stability of the motor are improved. The method is based on the model-free thought of the zero-sequence loop of the ESO, and overcomes the defect of high dependence on zero-sequence loop parameters in the calculation process, wherein the zero-sequence parameters of the motor, especially the three-time magnetic linkage psi3fWhen the change occurs, the control effect is good. The ESO control principle adopted in the method is simple, and the calculated amount is small.
Description
Technical Field
The invention relates to the field of torque ripple suppression in open-winding permanent magnet synchronous motor control, in particular to a suppression technology for torque ripple generated by a zero-sequence loop.
Background
The open-winding permanent magnet synchronous motor adopting the single power supply has the advantage of saving space, so that the open-winding permanent magnet synchronous motor is more adopted. However, because the motor has an internal zero sequence loop, zero sequence current in the zero sequence loop can generate zero sequence torque pulsation, which can generate adverse effect on the operation stability of the motor, and then the efficiency of the motor is reduced. Therefore, the zero-order torque ripple must be effectively suppressed. The torque ripple generated by the zero-sequence current can be realized by inhibiting the zero-sequence current, but the zero-voltage vector redistribution strategy widely used at the present stage cannot ensure that the zero-sequence current always obtains a good inhibition effect under a complex working condition. The scheme of suppressing the zero-sequence Torque Ripple by using a q-axis current reverse injection Method is proposed in a Torque Ripple Suppression Method With Reduced Switching Frequency for Open-Winding PMSM Drives With Common DC Bus by Wei Hu et al, but the case of inaccurate zero-sequence parameters is not mentioned in the article. Yuan Xin et al, in Torque Ripple Suppression for Open-end Winding performance-Magnet Synchronous Machine drive with Predictive Current Control, proposed a way of using a sliding film variable structure to calculate a reverse injection q-axis reference Current value, but the adopted sliding film structure is more complex and has a large calculation amount, and the adopted central hexagonal modulation technology cannot effectively suppress zero-sequence Current. Therefore, there is a need in the art for a control strategy that can effectively suppress zero-sequence torque ripple generated by zero-sequence current without bringing too much pressure to a control system.
Disclosure of Invention
In order to solve the defects of the existing torque ripple suppression strategy, in particular to the problems that obvious zero sequence torque ripple is generated when zero sequence parameters are changed in the motor operation process and the motor operation stability is deteriorated, the invention provides a torque ripple suppression method of an open-winding permanent magnet synchronous motor, which specifically comprises the following steps:
the method comprises the following steps of firstly, collecting three-phase stator current, motor rotating speed and rotor position angle of a permanent magnet synchronous motor with a winding opened at the current moment in real time, and converting all parameters into a form in a quadrature-direct axis d-q coordinate system;
step two, establishing a mathematical model for the permanent magnet synchronous motor under the d-q coordinate system, and predicting quadrature axis and direct axis currents at the next moment by adopting a dead-beat current prediction control model in combination with the current moment parameters collected in the step one; performing model-free control on a zero sequence loop of the model by using an extended observer (ESO) to predict zero sequence current and zero sequence counter potential at the next moment;
step three, calculating a required quadrature axis current reverse injection value by using the zero sequence current and the zero sequence counter potential predicted in the step two;
and step four, outputting the required voltage after the torque ripple is restrained based on the calculation results in the step two and the step three, and carrying out SVPWM modulation.
Further, in the second step, establishing a mathematical model for the permanent magnet synchronous motor in the d-q coordinate system specifically includes:
in the formula of Ud、Uq、U0The direct axis, quadrature axis and zero sequence voltage of the motor under a d-q coordinate system are respectively; i.e. id、iq、i0Direct axis, quadrature axis and zero sequence current respectively; ΨfA permanent magnet flux linkage of a motor rotor; rsIs a stator resistor; l isd、Lq、L0D-axis, q-axis and zero sequence inductance respectively; omegarIs the electrical angular velocity of the rotor, e0Zero-sequence back electromotive force, t is time; in the surface-mounted open-winding permanent magnet synchronous motor specifically adopted, Ld＝Lq＝Ls. And carrying out discretization processing on the model.
Further, in the second step, a dead-beat current prediction control model is adopted to predict quadrature axis and direct axis currents at the next moment, and the dead-beat current prediction control model is based on the following formula:
where k denotes the current time, k +1 denotes the next time,
the predicted values of the quadrature axis current and the direct axis current at the next moment are TkIs a control cycle.
Performing model-free control on a zero-sequence loop of the model by using an extended observer (ESO), predicting zero-sequence current and zero-sequence counter potential at the next moment, and specifically comprising the following steps of:
because the open-winding permanent magnet synchronous motor normally operates, zero sequence current i0Is 0, and when the modulation technique of zero-voltage vector redistribution is adopted under the condition that the motor rotating speed is not too high, i0Will be close to 0, while Rsi0Compared with e0The values are small, so the zero sequence loop can be considered to have the following relationship:
the model-free control by the extended observer is specifically based on the following relation:
where α is a parameter selected according to the motor controller, here set to L0F is a comprehensive expression of a known part and an unknown part, and F ═ RSi0+e0When modulation techniques with zero voltage vector redistribution are used, i0Will be close to 0, while Rsi0Compared with e0The value is very small, so F ≈ e0；e0The initial value is normally set to 0. Therefore, the zero-sequence current and the zero-sequence back-emf at the next time can be predicted based on the following equations:
wherein, er0Zero sequence current prediction value for k time
With the actual value of zero-sequence current i0(k) Error between, TkIn order to provide a discrete period of the system,
that is to say
As a zero sequence back-emf estimate, beta1And beta2To expand the observer parameters.
Further, the calculating the quadrature axis current reverse injection value in the third step specifically includes:
because the surface-mounted open winding permanent magnet synchronous motor torque TeIs expressed as follows:
wherein p is the number of pole pairs of the motor. It can be seen that the open-winding permanent magnet synchronous motor torque is composed of two parts: the torque generated by the quadrature axis current and the torque generated by the zero sequence current. In order to effectively inhibit the torque generated by the zero sequence current, the reference current value i 'is injected in the reverse direction required by the quadrature axis'qComprises the following steps:
and substituting the zero-sequence current obtained by prediction in the second step and the zero-sequence counter potential to obtain the quadrature axis current reverse injection value.
Further, the required voltage after the suppression of the output torque ripple in the fourth step is specifically:
wherein,
respectively the actual reference currents at time k.
By the method provided by the invention, at least the following beneficial effects can be realized:
1. according to the method, the torque components of the open-winding permanent magnet synchronous motor are analyzed, and a q-axis current reverse injection method is adopted, so that the zero-sequence torque pulsation can be effectively inhibited under various complex working conditions, and the working efficiency and the running stability of the motor are improved;
2. the method adopts the model-free thought of the zero-sequence loop based on the ESO, gets rid of the defect of high dependence on the zero-sequence loop parameter in the calculation process, and solves the problem of the zero-sequence parameter (especially the triple magnetic linkage psi) of the motor3f) When the change occurs, the control effect is good.
3. The ESO control principle adopted in the method is simple, and the calculated amount is small.
Drawings
FIG. 1 is a flow chart of a method provided by the present invention;
FIG. 2 is a schematic diagram of split winding PMSM control based on the method provided by the present invention;
FIG. 3 is a torque ripple diagram without the change of the cubic flux linkage without using the method of the present invention;
FIG. 4 is a torque ripple diagram without change of cubic flux linkage by using the method of the present invention;
FIG. 5 is a graph of a motor tertiary flux linkage at 3 times rated value (Ψ'3f＝3Ψ3f) The torque pulsation map of (1);
FIG. 6 shows a schematic view of a liquid crystal display device using the present inventionMethod is provided and the motor tertiary flux linkage becomes 3 times (Ψ ') rated value'3f＝3Ψ3f) The torque ripple map of (2).
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a torque ripple suppression method of an open-winding permanent magnet synchronous motor, which specifically comprises the following steps as shown in figures 1-2:
the method comprises the following steps of firstly, collecting three-phase stator current, motor rotating speed and rotor position angle of a permanent magnet synchronous motor with a winding opened at the current moment in real time, and converting all parameters into a form in a quadrature-direct axis d-q coordinate system;
step two, establishing a mathematical model for the permanent magnet synchronous motor under the d-q coordinate system, and predicting quadrature axis and direct axis currents at the next moment by adopting a dead-beat current prediction control model in combination with the current moment parameters collected in the step one; performing model-free control on a zero-sequence loop of the model by using an extended observer, and predicting zero-sequence current and zero-sequence counter potential at the next moment;
step three, calculating a required quadrature axis current reverse injection value by using the zero sequence current and the zero sequence counter potential predicted in the step two;
and step four, outputting the required voltage after the torque ripple is restrained based on the calculation results in the step two and the step three, and modulating by utilizing SVPWM.
In the existing scheme of using a zero voltage vector redistribution strategy to suppress torque ripple, the open-winding permanent magnet synchronous motor is discretized according to a mathematical model of the open-winding permanent magnet synchronous motor in a d-q coordinate system, high harmonics except a third harmonic which occupy a very small part are ignored, and d and q axes and zero sequence currents at the (k +1) moment can be predicted according to the measured motor information at the k moment:
in the formula of Ud、Uq、U0The direct axis, quadrature axis and zero sequence voltage of the motor under a d-q coordinate system are respectively; i.e. id、iq、i0Direct axis, quadrature axis and zero sequence current respectively; Ψf，Ψ3fRespectively a permanent magnet flux linkage and a tertiary flux linkage of a motor rotor; rsIs a stator resistor; l iss、L0D-axis, q-axis inductors and zero sequence inductors respectively; omegarIs the electrical angular velocity, T, of the rotorkIs a control cycle.
Similarly, the current at time (k +2) can be predicted from the current at time (k +1), and the motor reference current at time (k +2) is assumed to have reached time k, i.e., the motor reference current
id(k+2)＝id ref
iq(k+2)＝iq ref
i0(k+2)＝i0 ref
The voltage required by the motor at time (k +1) can thus be determined:
in conventional deadbeat control, Ud、Uq、U0The switching-on time of the inverter switch can be calculated by SVPWM modulation technology of zero vector redistribution, and the switching-on and switching-off of the switch can be controlled.
For a surface-mounted open-winding permanent magnet synchronous motor, the torque consists of two parts: the torque generated by the q-axis current and the torque generated by the zero-sequence current. In order to effectively suppress the torque generated by the zero-sequence current, the required reverse injection reference current value of the q axis is assumed to be i'qThen, then
To be made i'qThe torque ripple generated by the zero sequence current is cancelled out, namely:
can obtain the product
Wherein the third harmonic is the main component of e0, i.e.
e0＝-3wrψ3fsin(3θ)
It can be seen that e0Is given by the tertiary magnetic linkage Ψ3fThe influence of (c).
The method provided by the invention can obviously overcome the adverse effect of the tertiary magnetic linkage on the inhibition effect. For example, in some examples of the present invention, the torque diagrams when the tertiary flux linkage is unchanged are compared, as shown in fig. 3 and 4, respectively, without applying the torque ripple suppression method. Under the condition that the tertiary flux linkage is not changed, the torque ripple is very small, and the torque ripple generated by the zero sequence current is effectively suppressedAnd (5) preparing. However, when the tertiary flux linkage changes (the actual value of the tertiary flux linkage changes to three times the rated value, namely psi'3f＝3Ψ3f) It is obvious that the torque ripple is reduced significantly after the method (fig. 6) of the present solution is adopted, compared with the method (fig. 5) which does not adopt the present solution. This shows that the method provided by the scheme can still effectively suppress the torque ripple generated by the zero-sequence current when the flux linkage changes three times. The motor has important significance for improving the working stability and the working efficiency of the motor.
It should be understood that, the sequence numbers of the steps in the embodiments of the present invention do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. A torque ripple suppression method of an open-winding permanent magnet synchronous motor is characterized by comprising the following steps: the method specifically comprises the following steps:
the method comprises the following steps of firstly, collecting three-phase stator current, motor rotating speed and rotor position angle of a permanent magnet synchronous motor with a winding opened at the current moment in real time, and converting all parameters into a form in a quadrature-direct axis d-q coordinate system;
step two, establishing a mathematical model for the permanent magnet synchronous motor under the d-q coordinate system, adopting a dead-beat current prediction control model in combination with the current time parameter collected based on the step one, and predicting quadrature axis and direct axis currents at the next time based on the following formula:
where k denotes the current time, k +1 is the next time, id、iqAre respectively direct-axis current and quadrature-axis current,
are respectively the predicted values of the quadrature axis current and the direct axis current at the next moment, wrIs the electrical angular velocity, T, of the rotorkFor one control period, RsIs stator resistance, Ld＝Lq＝Ls，Ld、LqD-axis and q-axis inductances, Ud、UqRespectively the direct-axis voltage and the quadrature-axis voltage of the motor under a d-q coordinate systemfA permanent magnet flux linkage of a motor rotor;
and performing model-free control on a zero-sequence loop of the model by using an extended observer to predict zero-sequence current and zero-sequence back electromotive force at the next moment, and specifically comprises the following steps:
the extended observer is based on the following relation:
where α is a parameter selected according to the motor controller, F ≈ e0；e0Initial value is set to 0, U0Is zero sequence voltage under a d-q coordinate system; predicting the zero-sequence current and the zero-sequence counter potential at the next moment based on the following formulas:
wherein, er0(k) Zero sequence current prediction value for k time
With the actual value of zero-sequence current i0(k) The error between the two-dimensional data of the two-dimensional data,
that is to say
For zero-sequence back-emf prediction, beta1And beta2To expand observer parameters;
step three, calculating a required quadrature axis current reverse injection value by using the zero sequence current and the zero sequence counter potential predicted in the step two;
and step four, outputting the required voltage after the torque ripple is restrained based on the calculation results in the step two and the step three, and carrying out SVPWM modulation.
2. The method of claim 1, wherein: in the second step, the establishment of the mathematical model for the permanent magnet synchronous motor under the d-q coordinate system specifically comprises the following steps:
in the formula of Ud、Uq、U0The direct axis, quadrature axis and zero sequence voltage of the motor under a d-q coordinate system are respectively; i.e. id、iq、i0Direct axis, quadrature axis and zero sequence current respectively; ΨfA permanent magnet flux linkage of a motor rotor; rsIs a stator resistor; l isd、Lq、L0D-axis, q-axis and zero sequence inductance respectively; w is arIs the electrical angular velocity of the rotor, e0Zero-sequence back electromotive force, t is time; in the model based on the surface-mounted open winding permanent magnet synchronous motor, Ld＝Lq＝LsThe relationship of (1); and carrying out discretization processing on the model.
3. The method of claim 2, wherein: the quadrature-axis current reverse injection value i 'calculated in the step three'qComprises the following steps:
and substituting the zero-sequence current obtained by prediction in the second step and the zero-sequence counter potential to obtain the quadrature axis current reverse injection value.
4. The method of claim 3, wherein: the required voltage after the output torque ripple is suppressed in the fourth step is specifically as follows:
wherein id ref(k)，iq ref(k)，i0 ref(k) Respectively the actual reference currents at time k.
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